Author: Alaiwi Ya.

This research proposes a simulation of a Stäubli TX90 robot based on Simulink Toolbox of Matlab. The goal is to predict the position and trajectory of its end-effector, with high reliability. The simulator takes into consideration loading, deformations, calibrated kinematic parameters, and all eventual sources of disturbance. A comparison between real and simulated data reveals the reliability and the accuracy of the simulator.